function obj = coef_J_pure_hand_eye_func_new(in1,in2)
A11 = in1(1);
A12 = in1(4);
A13 = in1(7);
A14 = in1(10);
A21 = in1(2);
A22 = in1(5);
A23 = in1(8);
A24 = in1(11);
A31 = in1(3);
A32 = in1(6);
A33 = in1(9);
A34 = in1(12);
B11 = in2(1);
B12 = in2(4);
B13 = in2(7);
B14 = in2(10);
B21 = in2(2);
B22 = in2(5);
B23 = in2(8);
B24 = in2(11);
B31 = in2(3);
B32 = in2(6);
B33 = in2(9);
B34 = in2(12);
t2 = A11.*2.0;
t3 = A12.*2.0;
t4 = A13.*2.0;
t5 = A21.*2.0;
t6 = A22.*2.0;
t7 = A23.*2.0;
t8 = A31.*2.0;
t9 = A32.*2.0;
t10 = A33.*2.0;
t11 = A12.^2;
t12 = A13.^2;
t13 = A21.^2;
t14 = A23.^2;
t15 = A31.^2;
t16 = A32.^2;
t17 = B11.*2.0;
t18 = B12.*2.0;
t19 = B13.*2.0;
t20 = B21.*2.0;
t21 = B22.*2.0;
t22 = B23.*2.0;
t23 = B31.*2.0;
t24 = B32.*2.0;
t25 = B33.*2.0;
t26 = B12.^2;
t27 = B13.^2;
t28 = B14.^2;
t29 = B21.^2;
t30 = B23.^2;
t31 = B24.^2;
t32 = B31.^2;
t33 = B32.^2;
t34 = B34.^2;
t35 = A12+B12;
t36 = A13+B13;
t37 = A21+B21;
t38 = A23+B23;
t39 = A31+B31;
t40 = A32+B32;
t41 = A11-1.0;
t42 = A22-1.0;
t43 = A33-1.0;
t44 = -B11;
t46 = -B12;
t48 = -B13;
t50 = -B21;
t52 = -B22;
t54 = -B23;
t56 = -B31;
t58 = -B32;
t60 = -B33;
t64 = A14.*B14.*2.0;
t65 = A21.*B14.*4.0;
t66 = A12.*B24.*4.0;
t67 = A13.*B24.*4.0;
t68 = A23.*B14.*4.0;
t69 = A14.*B24.*4.0;
t70 = A24.*B14.*4.0;
t73 = A31.*B14.*4.0;
t74 = A12.*B34.*4.0;
t75 = A24.*B24.*2.0;
t76 = A32.*B14.*4.0;
t77 = A13.*B34.*4.0;
t78 = A14.*B34.*4.0;
t79 = A34.*B14.*4.0;
t80 = A21.*B34.*4.0;
t81 = A31.*B24.*4.0;
t82 = A32.*B24.*4.0;
t83 = A23.*B34.*4.0;
t84 = A24.*B34.*4.0;
t85 = A34.*B24.*4.0;
t88 = A34.*B34.*2.0;
t104 = A12.*B14.*-2.0;
t105 = A13.*B14.*-2.0;
t110 = A21.*B13.*8.0;
t111 = A12.*B23.*8.0;
t112 = A21.*B24.*-2.0;
t113 = A23.*B24.*-2.0;
t117 = A31.*B12.*8.0;
t119 = A13.*B32.*8.0;
t122 = A32.*B21.*8.0;
t123 = A23.*B31.*8.0;
t125 = A31.*B34.*-2.0;
t126 = A32.*B34.*-2.0;
t45 = -t17;
t47 = -t18;
t49 = -t19;
t51 = -t20;
t53 = -t21;
t55 = -t22;
t57 = -t23;
t59 = -t24;
t61 = -t25;
t62 = B14.*t3;
t63 = B14.*t4;
t71 = B24.*t5;
t72 = B24.*t7;
t86 = B34.*t8;
t87 = B34.*t9;
t89 = t26.*4.0;
t90 = t28.*2.0;
t91 = t27.*4.0;
t92 = t29.*4.0;
t93 = t31.*2.0;
t94 = t30.*4.0;
t95 = t32.*4.0;
t96 = t33.*4.0;
t97 = t34.*2.0;
t98 = t35.^2;
t99 = t36.^2;
t100 = t37.^2;
t101 = t38.^2;
t102 = t39.^2;
t103 = t40.^2;
t106 = -t64;
t107 = -t66;
t108 = -t67;
t109 = -t69;
t114 = -t73;
t115 = -t75;
t116 = -t76;
t118 = -t79;
t120 = -t80;
t121 = -t83;
t124 = -t84;
t127 = -t88;
t128 = t11.*4.0;
t129 = t12.*4.0;
t130 = t13.*4.0;
t131 = t14.*4.0;
t132 = t15.*4.0;
t133 = t16.*4.0;
t134 = A11+t44;
t135 = A12+t46;
t136 = A13+t48;
t137 = A21+t50;
t138 = A22+t52;
t139 = A23+t54;
t140 = A31+t56;
t141 = A32+t58;
t142 = A33+t60;
t143 = A13.*t35.*4.0;
t144 = A12.*t36.*4.0;
t145 = A23.*t37.*4.0;
t146 = A21.*t38.*4.0;
t147 = A32.*t39.*4.0;
t148 = A31.*t40.*4.0;
t149 = B23.*t36.*4.0;
t150 = B32.*t35.*4.0;
t151 = B13.*t38.*4.0;
t152 = B31.*t37.*4.0;
t153 = B12.*t40.*4.0;
t154 = B21.*t39.*4.0;
t155 = -t110;
t156 = -t111;
t157 = -t117;
t158 = -t119;
t159 = -t122;
t160 = -t123;
t161 = B14.*t41.*2.0;
t162 = B24.*t41.*4.0;
t163 = B14.*t42.*4.0;
t164 = B24.*t42.*2.0;
t165 = B34.*t41.*4.0;
t166 = B14.*t43.*4.0;
t167 = B34.*t42.*4.0;
t168 = B24.*t43.*4.0;
t169 = B34.*t43.*2.0;
t182 = t3+t20;
t183 = t5+t18;
t184 = t4+t23;
t185 = t8+t19;
t186 = t7+t24;
t187 = t9+t22;
t170 = -t143;
t171 = -t144;
t172 = -t145;
t173 = -t146;
t174 = -t147;
t175 = -t148;
t176 = -t149;
t177 = -t150;
t178 = -t151;
t179 = -t152;
t180 = -t153;
t181 = -t154;
t188 = -t161;
t189 = -t162;
t190 = -t164;
t191 = -t166;
t192 = -t167;
t193 = -t169;
t194 = t2+t53;
t195 = t3+t51;
t196 = t5+t47;
t197 = t6+t45;
t198 = t2+t61;
t199 = t4+t57;
t200 = t8+t49;
t201 = t10+t45;
t202 = t6+t61;
t203 = t7+t59;
t204 = t9+t55;
t205 = t10+t53;
t206 = t134.^2;
t207 = t135.^2;
t208 = t136.^2;
t209 = t137.^2;
t210 = t138.^2;
t211 = t139.^2;
t212 = t140.^2;
t213 = t141.^2;
t214 = t142.^2;
t215 = A13.*t135.*4.0;
t216 = A12.*t136.*4.0;
t217 = A23.*t137.*4.0;
t218 = A21.*t139.*4.0;
t219 = A32.*t140.*4.0;
t220 = A31.*t141.*4.0;
t221 = B23.*t136.*4.0;
t222 = B32.*t135.*4.0;
t223 = B13.*t139.*4.0;
t224 = B31.*t137.*4.0;
t225 = B12.*t141.*4.0;
t226 = B21.*t140.*4.0;
t263 = t35.*t135.*2.0;
t264 = t36.*t136.*2.0;
t265 = t37.*t137.*2.0;
t266 = t38.*t139.*2.0;
t267 = t39.*t140.*2.0;
t268 = t40.*t141.*2.0;
t299 = t134.*t182.*2.0;
t300 = t134.*t184.*2.0;
t301 = t138.*t183.*2.0;
t302 = t138.*t186.*2.0;
t303 = t142.*t185.*2.0;
t304 = t142.*t187.*2.0;
t227 = t206.*2.0;
t228 = t194.^2;
t229 = t197.^2;
t230 = t210.*2.0;
t231 = t198.^2;
t232 = t201.^2;
t233 = t202.^2;
t234 = t205.^2;
t235 = t214.*2.0;
t236 = -t215;
t237 = -t216;
t238 = -t217;
t239 = -t218;
t240 = -t219;
t241 = -t220;
t242 = -t221;
t243 = -t222;
t244 = -t223;
t245 = -t224;
t246 = -t225;
t247 = -t226;
t251 = A13.*t194.*4.0;
t252 = A12.*t198.*4.0;
t253 = A23.*t197.*4.0;
t254 = A21.*t202.*4.0;
t255 = A32.*t201.*4.0;
t256 = A31.*t205.*4.0;
t257 = B31.*t197.*4.0;
t258 = B21.*t201.*4.0;
t259 = B32.*t194.*4.0;
t260 = B12.*t205.*4.0;
t261 = B23.*t198.*4.0;
t262 = B13.*t202.*4.0;
t281 = -t263;
t282 = -t264;
t283 = -t265;
t284 = -t266;
t285 = -t267;
t286 = -t268;
t287 = t35.*t194.*2.0;
t288 = t36.*t198.*2.0;
t289 = t37.*t197.*2.0;
t290 = t38.*t202.*2.0;
t291 = t39.*t201.*2.0;
t292 = t40.*t205.*2.0;
t305 = t134.*t195.*2.0;
t306 = -t299;
t307 = t135.*t194.*2.0;
t308 = t134.*t199.*2.0;
t309 = -t300;
t310 = t136.*t198.*2.0;
t311 = t137.*t197.*2.0;
t312 = t138.*t196.*2.0;
t313 = -t301;
t314 = t138.*t203.*2.0;
t315 = -t302;
t316 = t139.*t202.*2.0;
t317 = t140.*t201.*2.0;
t318 = t142.*t200.*2.0;
t319 = -t303;
t320 = t141.*t205.*2.0;
t321 = t142.*t204.*2.0;
t322 = -t304;
t248 = -t227;
t249 = -t230;
t250 = -t235;
t269 = -t251;
t270 = -t252;
t271 = -t253;
t272 = -t254;
t273 = -t255;
t274 = -t256;
t275 = -t257;
t276 = -t258;
t277 = -t259;
t278 = -t260;
t279 = -t261;
t280 = -t262;
t293 = -t287;
t294 = -t288;
t295 = -t289;
t296 = -t290;
t297 = -t291;
t298 = -t292;
t323 = -t305;
t324 = -t307;
t325 = -t308;
t326 = -t310;
t327 = -t311;
t328 = -t312;
t329 = -t314;
t330 = -t316;
t331 = -t317;
t332 = -t318;
t333 = -t320;
t334 = -t321;
mt1 = [t28+t31+t34+t206+t207+t208+t209+t210+t211+t212+t213+t214,t216+t226+t236+t245+t304+t315+t316+t333,t217+t222+t239+t246+t300+t317+t319+t326,t220+t223+t240+t242+t301+t306+t307+t327,t90+t92+t93+t95+t97+t128+t129-t211.*2.0-t213.*2.0+t227+t233+t234+t249+t250+t265+t267+t281+t282+t186.^2+t187.^2,t158+t160+t219+t220+t242+t244+t258+t260+t270+t272+t305+t307+t311+t312-t185.*t187.*2.0,t156+t159+t217+t218+t243+t246+t257+t262+t269+t274+t308+t310+t317+t318-t183.*t186.*2.0,t89+t90+t93+t96+t97+t130+t131-t208.*2.0-t212.*2.0+t230+t231+t232+t248+t250+t263+t268+t283+t284+t184.^2+t185.^2,t155+t157+t215+t216+t245+t247+t259+t261+t271+t273+t314+t316+t320+t321-t182.*t184.*2.0,t90+t91+t93+t94+t97+t132+t133-t207.*2.0-t209.*2.0+t228+t229+t235+t248+t249+t264+t266+t285+t286+t182.^2+t183.^2,t112+t125+t188];
mt2 = [t104+t126+t190,t105+t113+t193,t106+t115+t127,t143+t154+t171+t179+t302+t320+t322+t330,t122+t145+t156+t177+t218+t225+t269+t274+t275+t280+t288+t291+t300+t303-t186.*t196.*2.0,t119+t149+t160+t174+t241+t244+t252+t254+t258+t260+t293+t295+t306+t313+t187.*t200.*2.0,t110+t152+t157+t170+t237+t247+t253+t255+t259+t261+t296+t298+t315+t322+t184.*t195.*2.0,t11.*8.0-t12.*8.0-t13.*8.0+t14.*8.0+t15.*8.0-t16.*8.0+t26.*8.0-t27.*8.0-t29.*8.0+t30.*8.0+t32.*8.0-t33.*8.0+t228.*2.0-t229.*2.0-t231.*2.0+t232.*2.0+t233.*2.0-t234.*2.0-t182.*t195.*2.0+t183.*t196.*2.0+t184.*t199.*2.0-t185.*t200.*2.0-t186.*t203.*2.0+t187.*t204.*2.0];
mt3 = [t110+t144+t157+t181+t215+t224+t271+t273+t277+t279+t290+t292+t302+t304-t182.*t199.*2.0,t81+t120,t82+t192,t121+t168,t85+t124,t146+t150+t172+t180+t303+t309+t310+t331,t119+t148+t160+t178+t219+t221+t270+t272+t276+t278+t287+t289+t299+t301-t185.*t204.*2.0,t122+t153+t156+t173+t238+t243+t251+t256+t257+t262+t294+t297+t309+t319+t183.*t203.*2.0,t114+t165,t74+t116,t77+t191,t78+t118,t147+t151+t175+t176+t299+t311+t313+t324,t65+t189,t107+t163,t68+t108,t70+t109,t28+t31+t34+t98+t99+t100+t102+t206+t210+t211+t213+t214,t147+t149+t223+t241+t289+t293+t305+t328,t145+t150+t225+t239+t291+t294+t308+t332,t90+t91+t93+t94+t97-t98.*2.0-t100.*2.0+t132+t133+t228+t229+t235+t248+t249+t264+t266+t285+t286+t195.^2+t196.^2,t155+t157+t170+t171+t179+t181+t253+t255+t277+t279+t329+t330+t333+t334+t195.*t199.*2.0];
mt4 = [t89+t90+t93+t96+t97-t99.*2.0-t102.*2.0+t130+t131+t230+t231+t232+t248+t250+t263+t268+t283+t284+t199.^2+t200.^2,t71+t86+t188,t87+t104+t164,t72+t105+t169,t75+t88+t106,t148+t151+t221+t240+t287+t295+t312+t323,t156+t159+t172+t173+t177+t180+t251+t256+t275+t280+t325+t326+t331+t332+t196.*t203.*2.0,t158+t160+t174+t175+t176+t178+t252+t254+t276+t278+t323+t324+t327+t328+t200.*t204.*2.0,-t65+t189,t107-t163,-t68+t108,-t70+t109,t146+t153+t222+t238+t288+t297+t318+t325,t114-t165,-t74+t116,-t77+t191,-t78+t118,t28+t31+t34+t98+t100+t101+t103+t206+t208+t210+t212+t214,t143+t152+t226+t237+t292+t296+t314+t334];
mt5 = [t90+t92+t93+t95+t97-t101.*2.0-t103.*2.0+t128+t129+t227+t233+t234+t249+t250+t265+t267+t281+t282+t203.^2+t204.^2,t86+t112+t161,t62+t87+t190,t63+t113+t169,t64+t88+t115,t144+t154+t224+t236+t290+t298+t321+t329,-t81+t120,-t82+t192,t121-t168,-t85+t124,t28+t31+t34+t99+t101+t102+t103+t206+t207+t209+t210+t214,t71+t125+t161,t62+t126+t164,t63+t72+t193,t64+t75+t127,t13+t15+t41.^2,A32.*t8+t3.*t41+t5.*t42,A23.*t5+t4.*t41+t8.*t43,A24.*t5+A34.*t8+A14.*t41.*2.0,t11+t16+t42.^2,A13.*t3+t7.*t42+t9.*t43,A14.*t3+A34.*t9+A24.*t42.*2.0,t12+t14+t43.^2,A14.*t4+A24.*t7+A34.*t43.*2.0,A14.^2+A24.^2+A34.^2];
obj = [mt1,mt2,mt3,mt4,mt5];
end
